A dual-power redundancy system for unmanned tracked vehicles used in mining

Abstract

This utility model discloses a dual-power redundancy system for an unmanned tracked vehicle used in mining, comprising: dual independent power supply modules, a power controller, and a power switching unit; the dual independent power supply system connects the power controller and the power switching unit, and the power switching unit is connected to the power controller; wherein the power controller includes: a voltage converter module, a filter module, a clock signal module, an operational amplifier module, and a control module; the voltage converter module connects to the operational amplifier module and the control module, the filter module connects to the voltage converter module, the operational amplifier module connects to the control module, and the clock signal module connects to the control module. The dual-power redundancy system utilizes the non-mechanical switching advantages of power semiconductor switching devices to shorten power switching time, adopts a non-contact power switching mode, greatly improves the shock resistance of the power supply system, and ensures the reliability and stability of the power supply system.

Description

Technical Field

[0001] This utility model relates to the field of mining auxiliary transportation, specifically a dual-power redundant system for an unmanned tracked vehicle used in mining. Background Technology

[0002] In recent years, with the rapid development of intelligent and unmanned mining operations, unmanned tracked mining vehicles have gradually become core equipment for mine transportation and operations due to their high efficiency and safety. However, the complex and harsh mining environment presents challenges such as high dust levels, strong vibrations, extreme temperature and humidity, and electromagnetic interference, placing stringent demands on the reliability and stability of the onboard power supply system. Traditional mining vehicle power supply systems often employ a single power supply architecture. If the power module fails due to malfunction or environmental factors, it will directly lead to the vehicle control system crashing, causing operational interruptions or even safety accidents. Furthermore, vehicles need to operate continuously for extended periods in mining operations, and the limited endurance of a single power supply is insufficient to meet the demands of high-intensity operations. Therefore, a power supply solution with high redundancy and environmental adaptability is urgently needed to ensure the continuous and stable operation of unmanned tracked vehicles under extreme conditions.

[0003] Currently, some redundant power supply solutions employ dual-power backup designs, but their technical implementation still has significant shortcomings. For example, power switching mechanisms rely on mechanical relays or simple electronic switches, resulting in high switching delays that may cause momentary power outages in the control system. Simultaneously, traditional redundant systems lack intelligent power management and fault diagnosis functions, failing to monitor the status of dual power supplies in real time, balance loads, or predict potential faults. Furthermore, the mining environment places extremely high demands on equipment's sealing, vibration resistance, and heat dissipation performance, but existing redundant power supply systems are often not optimized for these requirements in their structural design, leading to modules being susceptible to dust intrusion, vibration damage, or overheating failure. These problems severely restrict the operational safety and maintenance efficiency of unmanned tracked vehicles, becoming one of the technical bottlenecks in the intelligent transformation of mines. Utility Model Content

[0004] The main purpose of this utility model is to provide a dual-power redundant system for unmanned tracked vehicles used in mining to solve the problem that the mining environment has extremely high requirements for the sealing, shock resistance, real-time power switching and heat dissipation performance of equipment. However, the existing redundant power supply systems are often not optimized for such requirements in their structural design, which makes the modules susceptible to dust intrusion, vibration damage or overheating failure.

[0005] To solve the above-mentioned technical problems, this utility model provides a dual power redundancy system for an unmanned tracked vehicle used in mining, including: dual independent power modules, a power controller, and a power switching unit;

[0006] The dual independent power supply system connects the power controller and the power switching unit, and the power switching unit is connected to the power controller.

[0007] The dual independent power supply system includes: input terminals VCC1+, VCC1-, VCC2+, and VCC2-; voltage divider resistors R19, R20, R21, and R22; fuses FU1 and FU2; and current transformers CT1 and CT2.

[0008] The power switching unit includes: P-channel MOSFET D1, P-channel MOSFET D2, power output terminal V+, and power output terminal V-;

[0009] The input terminal VCC1+ is connected to the common terminal of resistor R19 and fuse FU1. The other end of resistor R19 is connected to resistor R20. The common terminal of resistors R19 and R20 is connected to the power controller.

[0010] Input terminal VCC1 - Ground;

[0011] The other end of fuse FU1 is connected to the drain of P-channel MOSFET D1 via current transformer CT1.

[0012] The input terminal VCC2+ is connected to the common terminal of resistor R21 and fuse FU2; the other end of resistor R21 is connected to resistor R4; the other end of resistor R22 is connected to resistor R20.

[0013] The common terminal of resistors R21 and R22 is connected to the power controller, and the other end of fuse FU2 is connected to the drain of P-channel MOSFET D2 through current transformer CT1.

[0014] The input terminal VCC2- connects to the power output terminal V-;

[0015] Both ends of current transformers CT1 and CT2 are connected to the power controller.

[0016] Furthermore, the power controller of this utility model includes: a voltage conversion module, a filtering module, a clock signal module, an operational amplifier module, and a control module;

[0017] The transformer module is connected to the operational amplifier module and the control module; the filter module is connected to the transformer module; the operational amplifier module is connected to the control module; and the clock signal module is connected to the control module.

[0018] The voltage converter module provides the operating voltage for the dual-power redundant system.

[0019] The filtering module removes noise from the output voltage of the converter module;

[0020] The clock signal module generates high-precision, stable timing signals to synchronize the operation of the digital system;

[0021] The operational amplifier module processes the voltage signal and feeds it back to the control module for power supply selection.

[0022] The control module processes the voltage signal from the operational amplifier module to select the power supply.

[0023] Furthermore, the operational amplifier module in this utility model includes:

[0024] Terminal block H4, first operational amplifier circuit, second operational amplifier circuit, third operational amplifier circuit, fourth operational amplifier circuit;

[0025] Terminal H4 has port 1 connected to the first operational amplifier circuit, port 2 connected to the second operational amplifier circuit, port 3 connected to the third operational amplifier circuit, and port 4 connected to the fourth operational amplifier circuit.

[0026] The first operational amplifier circuit includes: resistors R16, R17, and R18; capacitor C14; operational amplifier U8A; and operational amplifier U8B.

[0027] The non-inverting input of operational amplifier U8A is connected to terminal H4 and capacitor C14. The other end of capacitor C14 is connected to the negative input of the power supply of operational amplifier U8A. The inverting input of operational amplifier U8A is connected to the output of operational amplifier U8A. The positive input of the power supply of operational amplifier U8A is connected to a 5V voltage source. The negative input of the power supply of operational amplifier U8A is grounded.

[0028] The output terminal of operational amplifier U8A is connected to resistor R16, and the other end of resistor R16 is connected to the inverting input terminal of operational amplifier U8B.

[0029] One end of resistor R17 is connected to the inverting input of operational amplifier U8A, and the other end is connected to the non-inverting input of operational amplifier U8B.

[0030] The output terminal of operational amplifier U8B is connected to resistor R18, and the other end of resistor R18 is connected to port 18 of chip U1.

[0031] Furthermore, the second, third, and fourth operational amplifier circuits in this invention have the same structure as the first operational amplifier circuit.

[0032] This utility model patent proposes a dual-power redundant main control power supply system specifically designed for unmanned tracked mining vehicles. This system integrates two independent power modules, an intelligent switching controller, and an environmentally adaptable structure to achieve millisecond-level seamless switching and multi-dimensional status monitoring, ensuring continuous power supply to the main control system. It innovatively introduces a dynamic load balancing algorithm and hot-swappable functionality, extending power supply lifespan and supporting online maintenance. Simultaneously, the modular packaging design, combined with dustproof, shockproof, and efficient heat dissipation technologies, significantly improves the system's reliability in extreme mining environments. This solution not only addresses the single-point-of-failure risk of traditional power supply systems but also optimizes energy utilization through intelligent management, providing key technical support for the long-term stable operation of unmanned mining equipment. Attached Figure Description

[0033] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0034] Figure 1 A schematic diagram of a dual-power redundant system for an unmanned tracked vehicle used in mining;

[0035] Figure 2 A schematic diagram of the power controller structure in a dual-power redundant system for an unmanned tracked vehicle used in mining;

[0036] Figure 3 This is a schematic diagram of the operating principle of the dual-power redundant system for an unmanned tracked vehicle used in mining. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0038] like Figure 1 As shown, this utility model provides a dual-power redundant system for an unmanned tracked vehicle used in mining, including: dual independent power modules, a power controller, and a power switching unit;

[0039] The dual independent power supply system connects the power controller and the power switching unit, and the power switching unit is connected to the power controller.

[0040] The dual independent power supply system includes: input terminals VCC1+, VCC1-, VCC2+, and VCC2-; voltage divider resistors R19, R20, R21, and R22; fuses FU1 and FU2; and current transformers CT1 and CT2.

[0041] The power switching unit includes: P-channel MOSFET D1, P-channel MOSFET D2, power output terminal V+, and power output terminal V-.

[0042] The input terminal VCC1+ is connected to the common terminal of resistor R19 and fuse FU1. The other end of resistor R19 is connected to resistor R20. The common terminal of resistors R19 and R20 is connected to the power controller.

[0043] Input terminal VCC1 - Ground;

[0044] The other end of fuse FU1 is connected to the drain of P-channel MOSFET D1 via current transformer CT1.

[0045] The input terminal VCC2+ is connected to the common terminal of resistor R21 and fuse FU2; the other end of resistor R21 is connected to resistor R4; the other end of resistor R22 is connected to resistor R20.

[0046] The common terminal of resistors R21 and R22 is connected to the power controller, and the other end of fuse FU2 is connected to the drain of P-channel MOSFET D2 through current transformer CT1.

[0047] The input terminal VCC2- connects to the power output terminal V-;

[0048] Both ends of current transformers CT1 and CT2 are connected to the power controller.

[0049] The dual independent power supply system adopts a dual-power redundant power supply system, which utilizes the non-mechanical switching advantages of power semiconductor switching devices to greatly shorten the power switching time.

[0050] like Figure 2 As shown, the power controller includes: a voltage converter module, a filter module, a clock signal module, an operational amplifier module, and a control module;

[0051] The transformer module is connected to the operational amplifier module and the control module; the filter module is connected to the transformer module; the operational amplifier module is connected to the control module; and the clock signal module is connected to the control module.

[0052] The voltage conversion module is used for voltage conversion to provide operating voltage for the dual-power redundant system;

[0053] The filter module is used to remove noise from the output voltage of the converter module;

[0054] The clock signal module is used to generate high-precision, stable timing signals to synchronize the operation of the digital system;

[0055] The operational amplifier module is used to process voltage signals and feed them back to the control module for power supply selection;

[0056] The control module is used to process the voltage signal of the operational amplifier module and select the power supply.

[0057] The filter module includes capacitors C8, C9, C10, and C11;

[0058] One end of capacitor C8 is connected to a +3.3V voltage source, and the other end is grounded. Capacitors C9, C10, and C11 are all connected in parallel across capacitor C8.

[0059] The clock signal module includes: capacitors C3, C4, and C5; resistors R7 and R8; and crystal oscillator X1.

[0060] One end of crystal oscillator X1 is connected to port five of chip U1, and the other end is connected to port six of chip U1;

[0061] Resistor 7 is connected in parallel across crystal oscillator X1;

[0062] One end of capacitor C3 is connected to crystal oscillator X1, and the other end is connected to capacitor C4. The other end of capacitor C4 is connected to crystal oscillator X1.

[0063] Capacitor C5 is connected to the common terminal of capacitors C3 and C4 and grounded. The other end of capacitor C5 is connected to resistor R8, and the other end of resistor R8 is connected to a 3.3V voltage source. The common terminal of capacitor C5 and resistor R8 is connected to port seven of chip U1.

[0064] The voltage converter module includes: capacitors C1 and C2, diodes D1 and D2, inductor L1, fuse F1, voltage regulator chip LDO1, low dropout voltage regulator chip U2, and terminal block H1.

[0065] Terminal H1 has two grounded ports: port 1 and port 3; port 2 is connected to the positive terminal of diode D2; the negative terminal of diode D2 is connected to the common terminal of diode D1 and fuse F1; and port 4 is connected to the positive terminal of diode D1.

[0066] The other end of fuse F1 is connected to the input terminal IN of low-dropout voltage regulator chip U2, and the output terminal of low-dropout voltage regulator chip U2 is connected to a 3.3V voltage source.

[0067] One end of capacitor C1 is connected to the input terminal IN and the VBUS voltage source of the low dropout voltage regulator chip U2, and the other end is connected to the GND terminal of the low dropout voltage regulator chip U2.

[0068] One end of capacitor C2 is connected to the input terminal IN of low-dropout voltage regulator chip U2, and the other end is connected to the GND terminal of low-dropout voltage regulator chip U2.

[0069] The input terminal of the voltage regulator chip LDO1 is connected to the input terminal IN of the low dropout voltage regulator chip U2, and the other end is connected to a 5V voltage source.

[0070] The operational amplifier module includes: terminal block H4, first operational amplifier circuit, second operational amplifier circuit, third operational amplifier circuit, and fourth operational amplifier circuit;

[0071] Terminal H4 has port 1 connected to the first operational amplifier circuit, port 2 connected to the second operational amplifier circuit, port 3 connected to the third operational amplifier circuit, and port 4 connected to the fourth operational amplifier circuit.

[0072] The first operational amplifier circuit includes: resistors R16, R17, and R18; capacitor C14; operational amplifier U8A; and operational amplifier U8B.

[0073] The non-inverting input of operational amplifier U8A is connected to terminal H4 and capacitor C14. The other end of capacitor C14 is connected to the negative input of the power supply of operational amplifier U8A. The inverting input of operational amplifier U8A is connected to the output of operational amplifier U8A. The positive input of the power supply of operational amplifier U8A is connected to a 5V voltage source. The negative input of the power supply of operational amplifier U8A is grounded.

[0074] The output terminal of operational amplifier U8A is connected to resistor R16, and the other end of resistor R16 is connected to the inverting input terminal of operational amplifier U8B.

[0075] One end of resistor R17 is connected to the inverting input of operational amplifier U8A, and the other end is connected to the non-inverting input of operational amplifier U8B.

[0076] The output terminal of operational amplifier U8B is connected to resistor R18, and the other end of resistor R18 is connected to port 18 of chip U1.

[0077] The second, third, and fourth operational amplifier circuits have the same structure as the first operational amplifier circuit.

[0078] The control module includes: power switch chip U5, terminal block H3, resistor R3, and chip U1;

[0079] The output terminal OUT1 of the power switch chip U5 is connected to port one of the terminal block H3, and the output terminal OUT2 is connected to port two of the terminal block; the EP terminal, VCC terminal, and VDD terminal are all connected to the voltage source VBUS.

[0080] Input IN1 is connected to port PB6 of chip U1, and input IN2 is connected to port PB4 of chip U2;

[0081] The GND terminal is connected to resistor R9, and the other end of resistor R9 is connected to ports PB2, BOOT0, and VSS-3 of chip U1.

[0082] The following provides a detailed explanation of the circuit system through the power supply process of the dual-power redundant system for an unmanned tracked mining vehicle:

[0083] The power controller uses an STM32F103C8T6 32-bit ARM processor with a maximum operating frequency of 72MHz. The system introduces two backup power supplies to the control board, which then convert the DC24V to DC3.3V signals to power the main controller. Two rail-to-rail operational amplifiers are used for each backup power supply to linearly convert the 0-5V analog signals from the redundant voltage acquisition point to 0-2.5V, limiting the analog input signals within a safe and effective range. The system uses a high-end BTS5215L MOSFET driver chip to provide reliable turn-on and turn-off control for the MOSFETs.

[0084] like Figure 3 As shown, the fuse uses a dedicated semiconductor protection device, and the input voltage of the two power supplies is collected in real time using a voltage divider resistor. The power controller circuit is designed with a voltage signal analog amplifier circuit and a signal follower to input the conditioned analog voltage signal to the ARM processor. The current acquisition circuit uses an industrial-grade current transformer transmitter to convert the large current signal into a 4-20mA signal. The power controller circuit converts the 4-20mA current signal into a 0-2.5V voltage signal through an instrument signal amplifier and inputs it to the ARM processor.

[0085] The ARM processor's analog-to-digital conversion logic converts voltage and current signals into digital quantities ranging from 0 to 4096. The system uses CAN communication to set a comparison threshold between two input power supplies. When the voltage difference between the two power supplies is greater than the threshold, the final output source is selected based on the voltage magnitude. If the voltage difference between the two input power supplies is less than the set threshold, the system dynamically selects the output source at fixed intervals. If only one of the two power supplies is normal, the system will use the branch power supply that can output normally as the final power supply output.

[0086] This non-contact power switching mode greatly improves the shock resistance of the power supply system and ensures the reliability and stability of the power supply system.

[0087] The power controller software system has a sampling period of 1ms, a program execution decision period of 2ms, a switching device switching period of 2ms, and a power intelligent switching period of no more than 5ms.

[0088] During operation, the system uses a CAN communication-based control interface, enabling the dual-power system to operate in three modes: power supply mode 1, power supply mode 2, and intelligent dual-power switching mode. It can monitor the power load in real time. If the power demand exceeds the maximum output capacity of the redundant power supply, the system will interrupt the power output after a certain delay and send alarm messages at three alarm levels (1, 2, and 3), which facilitates the status tracking and fault diagnosis of the overall control system.

[0089] In summary, this utility model patent proposes a dual-power redundant main control power supply system specifically designed for unmanned tracked mining vehicles. This system integrates dual independent power modules, an intelligent switching controller, and an environmentally adaptable structure to achieve millisecond-level seamless switching and multi-dimensional status monitoring, ensuring continuous power supply to the main control system. The innovative introduction of a dynamic load balancing algorithm and hot-swappable functionality extends power supply life and supports online maintenance. Simultaneously, the modular packaging design, combined with dustproof, shockproof, and efficient heat dissipation technologies, significantly improves the system's reliability in extreme mining environments. This solution not only addresses the single-point-of-failure risk of traditional power supply systems but also optimizes energy utilization through intelligent management, providing crucial technical support for the long-term stable operation of unmanned mining equipment.

[0090] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

[0091] Furthermore, it should be noted that if any directional indication (such as up, down, left, right, front, back, etc.) is involved in the embodiments of this utility model, the directional indication is only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0092] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, in the embodiments of this utility model, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

Claims

1. A dual-power redundant system for an unmanned tracked vehicle used in mining, characterized in that, include: Dual independent power supply modules, power controller, and power switching unit; The dual independent power supply system connects the power controller and the power switching unit, and the power switching unit is connected to the power controller. The dual independent power supply system includes: input terminals VCC1+, VCC1-, VCC2+, and VCC2-; voltage divider resistors R19, R20, R21, and R22; fuses FU1 and FU2; and current transformers CT1 and CT2. The power switching unit includes: P-channel MOSFET D1, P-channel MOSFET D2, power output terminal V+, and power output terminal V-; The input terminal VCC1+ is connected to the common terminal of resistor R19 and fuse FU1. The other end of resistor R19 is connected to resistor R20. The common terminal of resistors R19 and R20 is connected to the power controller. Input terminal VCC1 - Ground; The other end of fuse FU1 is connected to the drain of P-channel MOSFET D1 via current transformer CT1. The input terminal VCC2+ is connected to the common terminal of resistor R21 and fuse FU2; the other end of resistor R21 is connected to resistor R4; the other end of resistor R22 is connected to resistor R20. The common terminal of resistors R21 and R22 is connected to the power controller, and the other end of fuse FU2 is connected to the drain of P-channel MOSFET D2 through current transformer CT1. The input terminal VCC2- connects to the power output terminal V-; Both ends of current transformers CT1 and CT2 are connected to the power controller.

2. The dual-power redundant system for unmanned tracked mining vehicles as described in claim 1, characterized in that, The power controller includes: a voltage converter module, a filter module, a clock signal module, an operational amplifier module, and a control module; The transformer module is connected to the operational amplifier module and the control module; the filter module is connected to the transformer module; the operational amplifier module is connected to the control module; and the clock signal module is connected to the control module.

3. The dual-power redundant system for unmanned tracked mining vehicles as described in claim 2, characterized in that, The operational amplifier module includes: Terminal block H4, first operational amplifier circuit, second operational amplifier circuit, third operational amplifier circuit, fourth operational amplifier circuit; Terminal H4 has port 1 connected to the first operational amplifier circuit, port 2 connected to the second operational amplifier circuit, port 3 connected to the third operational amplifier circuit, and port 4 connected to the fourth operational amplifier circuit. The second, third, and fourth operational amplifier circuits have the same structure as the first operational amplifier circuit.

4. The dual-power redundant system for unmanned tracked mining vehicles as described in claim 3, characterized in that, The first operational amplifier circuit mentioned above includes: resistors R16, R17, and R18; capacitor C14; operational amplifier U8A; and operational amplifier U8B. The non-inverting input of operational amplifier U8A is connected to terminal H4 and capacitor C14. The other end of capacitor C14 is connected to the negative input of the power supply of operational amplifier U8A. The inverting input of operational amplifier U8A is connected to the output of operational amplifier U8A. The positive input of the power supply of operational amplifier U8A is connected to a 5V voltage source. The negative input of the power supply of operational amplifier U8A is grounded. The output terminal of operational amplifier U8A is connected to resistor R16, and the other end of resistor R16 is connected to the inverting input terminal of operational amplifier U8B. One end of resistor R17 is connected to the inverting input of operational amplifier U8A, and the other end is connected to the non-inverting input of operational amplifier U8B. The output terminal of operational amplifier U8B is connected to resistor R18, and the other end of resistor R18 is connected to port 18 of chip U1.

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